Robust, direct torque control of induction motor drives in application to industrial manipulator

摘要

The paper analyses the application of the 3-phase small induction motors as the drives for industrial manipulator Joints and problems of their control. By introducing the robust control of the whole system, in which the direct torque control (DTC) is applied to driving motors, presented solution is not only realistic but yields high quality of trajectory tracking. The problem is widely illustrated by simulated results of manipulator's operation with that kind of drives including several control system options.